Summary of Significant Accounting Policies - Summary of Basic and Diluted Net Loss per Share Attributable to Common Stockholders (Details) - USD ($) $ / shares in Units, $ in Thousands	3 Months Ended		9 Months Ended
	Sep. 30, 2021	Sep. 30, 2020	Sep. 30, 2021	Sep. 30, 2020
Numerator:
Net loss	$ (11,055)	$ (6,334)	$ (29,896)	$ (15,106)
Accretion of redeemable convertible preferred stock				(115)
Net loss attributable to common stockholders	$ (11,055)	$ (6,334)	$ (29,896)	$ (15,221)
Denominator:
Weighted-average common shares outstanding—basic and diluted	13,001,514	12,924,682	12,979,837	7,133,967
Net loss per share attributable to common stockholders—basic and diluted	$ (0.85)	$ (0.49)	$ (2.30)	$ (2.13)